SocketCAN is a set of open source CAN drivers and a networking stack contributed by Volkswagen Research to the Linux kernel. Formerly known as Low Level CAN Framework (LLCF).

This package uses socketcan drivers and networking stack to provide an abstraction over interacting with CAN.

Create and begin the bus:

canbus bus("can0");

if (!bus.begin()) {
    return 1;
}

Read data from the bus:

uint32_t id;
uint8_t data[8];
uint8_t len;
bool req;

if (!bus->recv(&id, data, &len, &req)) {
    return;
}

Write data to the bus:

uint8_t buf[8];   // this is the buffer where some data is stored already

if (!bus.send(0x006, buf, sizeof(buf))) {
  return 1;
}

This is a wio package and can be installed:

wio install [email protected] --url github.com/waterloop/socketcan-wio